Method of communicating between work machines using li-fi communication protocol

ABSTRACT

An agricultural work vehicle includes a chassis, a cab mounted to the chassis and including a work space for an operator to control the work vehicle, and a controller for controlling operation of the work vehicle. The work vehicle further includes a lighting system having at least one array field light for illuminating an area on or around the work vehicle. A light control module is disposed in electrical communication with the controller and is configured to operably control the at least one array field light. The controller transmits a signal to the light control module, and the at least one array field light transmits a light signal corresponding to the signal which is receivable by a receiving module on another work vehicle or implement.

FIELD OF THE DISCLOSURE

The present disclosure relates to a lighting system of a work vehicle,and in particular, to using the lighting system to communicate betweenwork vehicles, implements and the like.

BACKGROUND

Lighting systems on vehicles are well known and perform numerous tasks.In some instances, conventional lighting systems for on-road vehiclesmay adjust lighting levels on the basis of a travel path or intendedtravel path of a vehicle. These lighting systems can offer guidance toan operator who is controlling the steering and operation of thevehicle.

In some ways, these conventional lighting systems are being usedsimilarly in off-road vehicles such as agricultural machines,construction or industrial machines, and forestry machines. Astechnology continues to evolve and is added to these types of machines,greater amounts of data and information is collected and transferredbetween vehicles, vehicle-implement, etc. In an agricultural setting,for example, data and information may be communicatedtractor-to-tractor, tractor-to-harvester, and tractor-to-implement.Conventional wired communication protocols are challenged to keep upwith both the amount of data as well as the speed that this datatransfer is being requested to be communicated. Moreover,machine-to-machine communication via global positioning sensors (GPS)also relies on signal and speed to upload and download information via asatellite.

It is therefore desirable to provide an improved communication protocolsuch that greater data transfer at higher speeds can be achieved betweenmachines and/or implements.

SUMMARY

In one embodiment of the present disclosure, an agricultural workvehicle includes a chassis; a cab mounted to the chassis and including awork space for an operator to control the work vehicle; a controller forcontrolling operation of the work vehicle; a lighting system of the workvehicle comprising at least one array field light for illuminating anarea on or around the work vehicle; a light control module disposed inelectrical communication with the controller, the light control moduleconfigured to operably control the at least one array field light;wherein, the controller transmits a signal to the light control module;further wherein, the at least one array field light transmits a lightsignal corresponding to the signal which is receivable by a receivingmodule on another work vehicle or implement.

In one example of this embodiment, the at least one array field lightcomprises a high-definition pixel LED lighting module. In a secondexample, the transmission of the light signal comprises an optical datatransmission. In a third example, the at least one array field light ismounted to the cab or chassis. In a fourth example, the at least onearray field light comprises a first array field light and a second arrayfield light, the first and second array field lights being independentlycontrollable by the light control module.

In a fifth example, the first array field light is operably controlledto transmit a first light signal and the second array field light isoperably controlled to transmit a second light signal, the first lightsignal and second light signal comprising different information. In asixth example, a receiving module is disposed in electricalcommunication with the controller, the receiving module configured toreceive a light signal from a light-transmitting module. In a seventhexample, the receiving module comprises a photodetector. In an eighthexample, a signal converter is electrically coupled to the receivingmodule, the signal converter capable of converting the light signal intoa readable format by the controller.

In another embodiment of the present disclosure, a work vehicle foroperating in a field includes a controller for controlling the workvehicle; a receiving module disposed in electrical communication withthe controller, the receiving module configured to receive one or morelight signals from a light-transmitting module on an implement oranother work vehicle; a lighting system of the work vehicle comprisingat least one light-transmitting module; a light control module disposedin electrical communication with the controller, the light controlmodule configured to operably control the at least onelight-transmitting module; wherein, the controller transmits a signal tothe light control module; wherein, the at least one light-transmittingmodule transmits a light signal corresponding to the signal to theimplement or other work vehicle.

In one example, the signal comprises data or position information aboutthe work vehicle. In a second example, the transmission of the lightsignal comprises an optical data transmission. In a third example, theat least one light-transmitting module comprises a firstlight-transmitting module and a second light-transmitting module, thefirst and second light-transmitting modules being independentlycontrollable by the light control module. In a fourth example, the firstlight-transmitting module is operably controlled to transmit a firstlight signal and the second light-transmitting module is operablycontrolled to transmit a second light signal, the first light signal andsecond light signal comprising different information. In anotherexample, the receiving module comprises a signal converter configured toconvert a light signal receiving from the implement or other vehicleinto a readable format for the controller.

In a further embodiment of the present disclosure, a work vehicle andimplement system includes a work vehicle comprising a controller, alight system including a light control module and at least onelight-transmitting module, and a receiving module; and an implementoperably coupled to the work vehicle, the implement comprising animplement controller, an implement light system including an implementlight control module and at least one implement light-transmittingmodule, and an implement receiving module; wherein, the controller andimplement controller communicate information therebetween via acommunication protocol comprising the transmission of light signals bythe light system and the implement light system.

In one example of this embodiment, the controller transmits a signal tothe light control module; the light control module operably controls anoutput of the at least one light-transmitting module to transmit a lightsignal to the implement receiving module, the light signal correspondingto the signal; and the implement receiving module converting the lightsignal into a readable format for the implement controller. In anotherexample, the receiving module and the implement receiving modulecomprise a signal converter for converting a light signal into areadable format for the respective controller and implement controller.

In a further example of this embodiment, the communication protocolcomprises a primary communication protocol and a secondary communicationprotocol for transmitting information between the controller andimplement controller; wherein the primary communication protocolcomprises a smaller bandwidth than the secondary communication protocol;wherein the secondary communication protocol comprises the transmissionof the light signals between the work vehicle and implement. In yet afurther example, the controller or implement controller operably detectan amount of bandwidth being used in communicating informationtherebetween; further wherein, when the controller or implementcontroller determine the amount of bandwidth is below a thresholdbandwidth, the controller or implement controller operably switch fromcommunicating via the primary communication protocol to the secondarycommunication protocol.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned aspects of the present disclosure and the manner ofobtaining them will become more apparent and the disclosure itself willbe better understood by reference to the following description of theembodiments of the disclosure, taken in conjunction with theaccompanying drawings, wherein:

FIG. 1 is a partial section of a side view of an agricultural vehiclewith a lighting system according to the present disclosure;

FIG. 2 is a schematic of a control system of the vehicle and lightingsystem of FIG. 1;

FIG. 3 is a schematic of an agricultural vehicle and implement operatingin a field; and

FIG. 4 is a schematic of a pair of work machines with Li-Ficommunication systems for communicating with one another.

Corresponding reference numerals are used to indicate correspondingparts throughout the several views.

DETAILED DESCRIPTION

For the purposes of promoting an understanding of the principles of thepresent disclosure, reference will now be made to the embodimentsdescribed herein and illustrated in the drawings and specific languagewill be used to describe the same. It will nevertheless be understoodthat no limitation of the scope of the present disclosure is therebyintended, such alterations and further modifications in the illustrateddevices and methods, and such further applications of the principles ofthe present disclosure as illustrated therein being contemplated aswould normally occur to one skilled in the art to which the presentdisclosure relates.

In FIG. 1, an illustrative example is provided of a work machine. Inthis example, the work machine is depicted as an agricultural vehicle,and in particular, to an agricultural combine 10. The presentdisclosure, however, is not limited to a combine or any otheragricultural vehicle. The work machine or vehicle may be any type ofagricultural, construction, forestry, industrial, or off-road machine orvehicle. Moreover, the terms “machine” and “vehicle” are usedinterchangeably in this disclosure to refer to the same thing.

In the embodiment of FIG. 1, an agricultural combine 10 is shown with achassis 12 with wheels 14 in contact with the ground. Wheels 14 arecoupled to the chassis 12 and are used for a forward propulsion of thecombine 10 in a forward operating or travelling direction. The forwardoperating direction is to the left in FIG. 1. The operation of thecombine 10 is controlled from an operator's cab 16. The operator's cab16 may include any number of controls including an operator terminal orcontrols 96 for controlling the operation of the combine 10. A cutterhead 18 may form part of an implement attached to the combine 10.Alternatively, the cutter head 18 may form part of the combine and thusis mounted to the chassis 12. In any event, the cutter head 18 may bedisposed at a forward end of the combine 10 and is used in order toharvest crop such as corn and to conduct it to a slope conveyor 20. Theharvested crop is conducted by a guide drum 22 to a slope conveyor 20.The guide drum 22 guides the harvested crop through an inlet transitionsection 24 to an axial harvested crop processing arrangement 26, asshown in FIG. 1.

The harvested crop processing arrangement 26 may include a rotor housing34 and a rotor 36 arranged therein. The rotor 36 includes a hollow drum38 to which crop processing elements are fastened for a charging section40, a threshing section 42, and a separating section 44. The chargingsection 40 is arranged at the front end of the axial harvested cropprocessing arrangement 26. The threshing section 42 and the separatingsection 44 are located downstream in the longitudinal direction and tothe rear of the charging section 40. The drum 38 may be in the form of atruncated cone located in the charging section 40. The threshing section42 may include a forward section in the form of a truncated cone and acylindrical rear section. The cylindrical separating section 44 of thedrum 38 is located at the rear or end of the axial harvested cropprocessing unit 26. In place of the axial harvested crop processing unit26, a tangential threshing drum with a following axial threshing sectionor a straw chopper could also be used.

Corn and chaff that fall through a thresher basket associated with thethreshing section 42 and through a separating grate associated with theseparating section 44 may be directed to a cleaning system 28 with ablower 46 and sieves 48, 50 with louvers. The sieves 48, 50 can beoscillated in a fore-and-aft direction. The cleaning system 28 removesthe chaff and guides the clean corn over a screw conveyor 52 to anelevator for clean corn (not shown). The elevator for clean corndeposits the clean corn in a corn tank 30, as shown in FIG. 1. The cleancorn in the corn tank 30 can be unloaded by an unloading screw conveyor32 to a corn wagon, trailer, or truck (not shown). Harvested cropremaining at the lower end of the lower sieve 50 is again transported tothe harvested crop processing arrangement 26 by a screw conveyor 54 andan overhead conveyor (not shown). The harvested crop residue deliveredat the upper end of the upper sieve 48 that consist essentially of chaffand small straw particles may be conveyed by an oscillating sheetconveyor 56 to the rear and to a lower inlet 58 of a chopper rotorassembly 60.

The aforementioned blower 46 produces an air flow that carries much ofthe chaff and small particles to the rear of the combine and to thechopper rotor assembly 60. The blower 46 is capable of providing threeor more air paths inside the combine. A first air or flow path may bethrough a front portion of the combine 10. A second air or flow path maybe above the lower sieve 50 and below the upper sieve 48 or chaffer. Athird air or flow path may be below the lower sieve 50. All three air orflow paths fill the combine body and can create pressurized air flow topick up and carry straw, grain, and other residue or particles to therear of the combine 10.

Threshed-out straw leaving the separating section 44 is ejected throughan outlet 62 from the harvested crop processing arrangement 26 andconducted to an ejection drum 64. The ejection drum 64, or dischargebeater, interacts with a sheet 66 arranged underneath it to eject thestraw to the rear, and the grain and MOG is directed through thecleaning system 28. A wall 68 is located to the rear of the ejectiondrum 64. The wall 68 guides the straw into an upper inlet 70 of thechopper rotor assembly 60.

The chopper rotor assembly 60 may include a housing 72 (i.e., chopperhousing) with a rotor 74 arranged therein that can rotate in acounterclockwise direction about an axis extending horizontally andtransverse to the direction of operation. The rotor 74 may include aplurality of chopper knives 76, pendulously suspended in pairs anddistributed around the circumference of the rotor 74, that interact withopposing knives 78, which are fixed to the housing 72. Two impellerblowers 82 arranged side by side alongside each other, may be provideddownstream of an outlet 80 of the chopper rotor assembly 60. Only asingle blower 82 is shown in FIG. 1. The impeller blowers 82 may includea number of impeller blades 84, each of which is connected rigidly to anupper circular disk 86, that can rotate about central axes 88. The disks86 with the impeller blades 84 that extend radially can be rotatablydriven by a hydraulic motor 90 that is attached above a bottom sheet 102which is connected with the housing 72 of the chopper rotor assembly 60.At their radially inner ends the impeller blades 84 are connected to acylindrical central body 92 that transitions into a cone 94 with a pointon its end facing away from the disk 86. The impeller blades 84 may berectangular and the height of the body 92 (without cone 94) may be equalto the height of the impeller blades 84. The cross section of the body92 and the cone 94 may be circular, although it could also have amultifaceted shape.

In FIG. 1, the agricultural vehicle 10 may include a lighting module orsystem 104 which is an integral part of the vehicle. The lighting moduleor system 104 may utilize a high-definition (HD) pixel or pixellight-emitting diode (LED) light array module. The system 104 mayinclude its own control module 224 (see FIG. 2). The light systemcontrol module or controller 224 may be operably disposed in electricalcommunication with a vehicle controller 222, which controls theoperation of the vehicle 10. The vehicle controller 222 may sendcommunications or signals to the control module 224 for controlling thelighting system 104.

With matrix lighting, a vehicle controller may use a high beam and a lowbeam to illuminate the vehicle surroundings. With matrix lightingcontrol, the controller may turn off the high beam and create a darkenedcolumn in the area where an oncoming vehicle or object is so as to notblind the vehicle (or person). With HD LED or HD Pixel source LEDillumination, pixel technology is utilized in which more focused areascan be illuminated or de-illuminated based on need. Rather than using asingle bulb, for example, the lighting system of the present disclosuremay control individual pixels or pixel segments to project orilluminate. Individual segments may include between a thousand to over amillion pixels, and the lighting system controller or control module 224may operably enable or disable individual segments during operation.Moreover, the control module 224 may vary the intensity of theindividual segments to project information or other communications ontothe field as will be described below with reference to FIGS. 3 and 4.

The lighting system may be formed by an ambient or working lighting ofthe vehicle or an illumination provided inside the cab 16 in the form ofilluminable control and display elements or interior lighting. Theworking lighting may include a plurality of field lights mounted to thevehicle at different locations. In one example, each of the plurality offield lights may comprise a LED array field light. Other technologybesides LED may be used for the field lights. The plurality of fieldlights may include a first field light 106, a second field light 108, athird field light 110, a fourth field light 112, and a fifth field light114. In other embodiments, there may be additional or fewer fieldlights. In other words, there can be any number of field lights mountedto the chassis 12, cab 16, cutter head 18, etc. In the illustratedexample of FIG. 1, the first field light 106 may be mounted to a roof ofthe cab 16. The second field light 108 may be mounted to each side oronly one side of the vehicle 10. The third field light 110 may bemounted to the rear of the chassis 12. The fourth field light 112 may bemounted to a front portion of the roof of the cab 16, and the fifthfield light 114 may be mounted to a front deflector or portion of thechassis 12 below the cab 16. The location of each field light may differon other vehicles or machines, and thus the example of FIG. 1 is onlyintended to illustrate an example of one lighting system 104.

The plurality of field lights may enable an aerial or overlappingillumination of a terrain or field surface surrounding the agriculturalvehicle 10. One or more of the field lights can be activatedindividually and varied in terms of their luminous intensity by thevehicle controller 222 for adapting the emission characteristic or lightintensity.

In addition to the actual lamp (Halogen or gas discharge lamp, LEDs orthe like), one or more of the plurality of field lights may have opticaldevices for changing the emission characteristic, and consequently, theemission angle or the emission angle-dependent light distribution. Theoptical devices can be formed either by electrically controllableoptical systems (collimators or lens systems), or else by the lampitself. In the latter case, this may include a segmented LED matrix, inwhich individual matrix segments can be switched on and off and variedin their luminosity by the controller 222.

Inside the cab 16 may include a camera 100 for optically detecting theposition or head posture of a vehicle operator. The information obtainedby the camera 100 may be fed to the controller 222 to determine theinstantaneous viewing direction of the vehicle operator using imageprocessing software. The camera 100 may be integrated in a rear-viewmirror or a housing 98, for example, covered by the rear-view mirror.

As shown in FIG. 2, the vehicle controller 222 may form part of avehicle control system 220. Here, the controller 222 may include a datainterface 212 for the wireless reception of position or otherinformation broadcast by another work machine or vehicle (not shown).The position information broadcast by the other vehicle may be locatedin a data cloud 216 and can be retrieved from there via the datainterface 212 using an existing wireless network.

On the basis of the position information received, the controller 222can determine a relative position of the agricultural vehicle 10 withrespect to another vehicle or an implement, for which purpose thecontroller 222 performs a comparison with position information inrelation to the vehicle 10. The assessment or determination of therelative position may be carried out on the basis of a polar coordinatesystem, in which the vehicle 10 forms the origin of the coordinatesystem.

The position information related to the vehicle 10 may be captured by asatellite-based navigation system. The satellite-based navigation systemcan be either installed in the vehicle 10 or else implemented as awireless device 218. The latter may be a component part of a mobiletelephone of the vehicle operator, wherein the calculated positioninformation is transmitted wirelessly to the controller 222 via an LTEconnection established by a wireless interface 214.

In addition, in order to determine potential extraneous light effects,the controller 222 may be connected to an ambient-sensing light or imagesensor. The light or image sensor may be a panorama or 360-degree camera116 arranged in the roof area of the cab 16. Alternatively, it can alsobe light-sensitive sensor elements or individual cameras (not shown),distributed along an outer side of the vehicle 10.

Besides the lighting system 104 and cameras, the agricultural vehicle 10may include one or more sensors for detecting a relative position of thevehicle to another object. For example, a first proximity sensor 118 maybe mounted to the front side of the vehicle 10 and a second proximitysensor 120 may be mounted to the rear side thereof. Each sensor may bein electrical communication with the controller 222, as shown in FIG. 2.The first sensor 118 may detect an object in front of the vehicle as ittravels in a forward direction, whereas the second sensor 120 may detectan object either approaching from behind or an object in the path ofrearward movement of the vehicle 10. The vehicle 10 may includeadditional sensors for detecting the position of the vehicle relative tosurrounding objects and provide corresponding feedback to the controller222.

The controller 222 may be in a position where it receives data and otherfeedback from the operator of the vehicle along with sensors, cameras,remote devices, and the like across the vehicle and implement. In theexample of FIG. 2, the controller 222 may be arranged to receive aplurality of inputs. For instance, the controller may receivecommunication from the operator terminal 96 in the form of commands orinstructions from the operator. This may include instructions toaccelerate, decelerate, or turn the tractor. Alternatively, this mayinclude to active or de-activate the lighting system 104. Further, itmay include commands to operate the vehicle according to a desired modeor setting. Other known operator commands may be communicated to thecontroller 222 via the operator terminal 96.

The controller 222 may also receive images or other communications fromthe camera 100 located in the cab 16 of the vehicle. The camera maydetect movement of the operator and communicate the same to thecontroller 222. While a camera is depicted in FIG. 1, the camera 100 mayalso comprise a sensor for detecting a characteristic of the vehiclefrom inside the cab 16.

The controller 222 may further receive communication from the camera 116located externally of the cab 16. Here, the camera 116 may detectenvironmental conditions such as dusk or dawn, lighting effects from thelighting system 104, along with a view of the area around the workvehicle 10. This may include objects or obstacles in a field, a fenceline, a roadway, or other on-road or off-road vehicles in the generalarea. Further, the camera 116 may detect an implement being towed by thework machine and communicating this to the controller 222. In oneexample, the camera 116 may provide images to the controller 222, whichin turn may communicate these images to the operator as will bedescribed further below.

The controller 222 may be in communication with the first and secondproximity sensors 118, 120. The sensors may communicate objects that arewithin a predefined distance of the vehicle 10. This may include othervehicles or an implement being towed by the work vehicle in the field,or on a roadway during transport.

In this disclosure, the term “work vehicle” may include the type of workvehicle depicted in FIG. 1. However, this disclosure is not intended tobe limiting. “Work vehicle” may generally be any vehicle or machinecapable of operating or performing a work function. Thus, an implementis considered a “work vehicle” for purposes of this disclosure. As such,the use of “work vehicle” and “implement” in this disclosure is notintended to be limiting, and any work vehicle may be an implement andany implement may be a work vehicle. Moreover, a self-propelled unitsuch as a tractor, sprayer, combine, etc. may be described herein as awork vehicle, as well as an implement towed by a tractor or othervehicle may also be referred to as a work vehicle.

As shown in FIG. 2, the controller 222 may receive communications fromone or more sensors 200 regarding an operating status, operatingposition, or diagnostic trouble codes (DTCs) related to the vehicle.These sensors 200 may communicate warnings in the form of DTCs to theoperator such as, but not limited to, low battery level, low fuel, etc.

The controller 222 may receive communications from a field map input 202which may include positional information relative to a field. Thisinformation may be determined and loaded into a memory unit of thecontroller 222, or it may be communicated from a remote source. Theinformation from the field map input 202 may include field boundaries,roadways, fence lines, obstacles to avoid, etc. This information may beprovided to the controller 222, which can then provide this informationto the operator during field operation.

The controller 222 may also be in communication with a globalpositioning sensor (GPS) input 204. The GPS input 204 may come from asatellite or other remote sensing device (e.g., a cell phone). The GPSinput 204 may provide a location of the vehicle 10 to the operator sothat the operator is able to determine where in the field the vehicle islocated.

A vehicle speed input 206 may provide vehicle speed to the controller222. An operation mode type input 208 may provide the operator withdetails related to what type of operating mode a towed implement or thecutter head 18 is in. For an agricultural sprayer, for example, theoperation mode type input 208 may signal when a sprayer boom of thesprayer is folded, which is indicative of a transport mode, or unfolded,which is indicative of a field or working mode.

Other sensors 210 may be in communication with the controller 222 toprovide performance data or information about the vehicle or implement.This performance data or information may include any data that isgenerally collected, monitored, displayed, calculated, etc. and providedto the operator to better control the operation of the vehicle orimplement.

As shown in FIG. 2, the work vehicle 10 may be capable of towing animplement. For instance, the work vehicle may be a tractor which tows amowing, planting or spraying implement. In any event, the implement mayinclude its own lighting system. The implement lighting system may beoperably controlled by the vehicle controller 222 in the same way as thevehicle lighting system 104. In another embodiment, the implementlighting system may be operably controlled via the vehicle light controlmodule 224.

In yet another embodiment, which is shown in FIG. 2, the implementlighting system may include its own implement light control module 226for operably controlling the implement lighting system. Here, theimplement lighting system 228 may include a first implement array fieldlight 230 and a second LED array implement field light 232. Theimplement lighting system 228 may include one or more array field lightsfor projecting a light emission externally from the implement toilluminate areas around the implement.

As described above, conventional lighting systems were controlled toeither be turned completely on or off. If a high beam and low beam wereavailable, then a high beam may be used to further illuminate thesurrounding environment compared to the low beam. When an oncomingvehicle is detected, the high beam may be switched to the low beam. Indoing so, the operator of the oncoming vehicle is not blinded by thelight emission of the high beam.

In this disclosure, the light control module 224 of the vehicle and/orthe implement light control module 226 may receive communications fromthe controller 222 and operably control individual pixel segments toproject or display light emissions from each of its individual arrayfield lights. Each array field light may be operably controlledindependently of the other field lights such that at any given time oneor more of the field lights may be operably controlled on or off. As aresult, if an oncoming vehicle is approaching, individual pixel segmentsmay be disabled without completing shutting off the entire field light.This can provide advantages such that the surrounding environment maystill be illuminated by the lighting system, but the operator of theoncoming vehicle is not blinded. The ability to control the lightingsystem of the vehicle and implement via matrix lighting technology,along with camera and/or sensor technology to detect the presence of anoncoming vehicle and the like, provides additional benefits overconventional lighting systems.

In the same way, if the operator controlling the work vehicle isdistracted or partially blinded due to a glare caused by the lightingsystem, the present disclosure provides a control system and method forturning off segments of light to reduce the glare and distractions fromthe operator.

To achieve the aforementioned benefits, the present disclosure providesa high-definition pixel and/or pixel LED lighting system to expand theoverall coverage zone of illumination around the work vehicle andimplement. This lighting system may improve the visibility of the workvehicle and implement to the operator and to others in or near thecoverage zone, particularly as more work vehicles are operating later atnight. The lighting system may be operably controlled via control systemto that shown in FIG. 2 where individual array field lights may beselectively controlled to modify the light emission therefrom.

In one example of this disclosure, a combination of a combine 10 andgrain cart (not shown) may be in the same coverage zone. A camera orsensor may detect the presence of the grain cart such that the lightingsystem on the combine is operably controlled so that a correspondingarray field light does not project a light emission directly at thegrain cart operator. Similarly, a lighting system on the grain cart maybe operably controlled so that a corresponding array field light doesnot project a light emission directly at the combine operator. Thecombination of both lighting systems, however, project sufficient lightemission around the respective work vehicles for others to see.

In another example, a pair of tractors may be working in the same field.Each tractor may include a camera or sensor for detecting the presenceof the other tractor. Upon doing so, the respective controllers mayoperably control the lighting systems on each tractor so as not to blindthe operators of each tractor.

In the previous examples, it may also be possible for the operator ofthe combine, grain cart, or either tractor to manually identify theother vehicle and/or control the lighting system so as not to blind theoperator of the other vehicle.

In yet another example, a fast strobe sequence of all array field lightsmay be implemented to help illuminate the work vehicle so that anothervehicle in the field or otherwise may clearly see the work vehicle. Thefast strobe sequence may utilize a rotation of a field light, flashing,or any other type of lighting sequence.

In a further example, a lighting system of a work vehicle may beinterfaced with a lighting system on a towed implement. For instance, atractor may be pulling a planter through a field such that the tractorlighting system and planter lighting system project light emissions fromeach array field light to illuminate the field in which they areoperating. In this example, the vehicle controller may operably controlthe planter lighting system to illuminate the field and then operablycontrol the tractor lighting system to illuminate those zones or areasnot illuminated by the planter lighting system. The use of matrixlighting may be implemented where individual pixel segments of eacharray field light may be controlled on to fill in the gaps left by theplanter lighting system. The same may be true with using the planterlighting system to fill in gaps not illuminated by the tractor lightingsystem.

In this most recent example, as the tractor and implement make a turn inthe field, logic in the vehicle controller may be executed to controlthe tractor lighting system and the implement lighting system to coverthe intended path of travel through the turn.

Similarly, in another example, a tractor may be towing a mower implementthrough a field. As the mower moves from one side of the tractor to theother, the controller may operably control the lighting system on thetractor to illuminate the path of the mower as it moves from one side tothe other.

In the present disclosure, an improved wireless communication protocolsuch as light fidelity (“Li-Fi”) may be utilized to improvecommunication between work vehicles or machines, work vehicle andimplement, and the like. Li-Fi is a known wireless communicationtechnology which uses light to transmit data and position betweendevices. Moreover, Li-Fi is a light communication system capable oftransmitting data at high speeds over visible light, ultraviolet, andinfrared spectrums. Typically, LED lamps may be used to transmit visiblelight.

In use, Li-Fi uses the modulation or pulsing of light intensity totransmit data at high speeds and in environments where electromagneticinterference does not affect its transmission performance. Generally, aLi-Fi system includes at least one receiver and one transmitter. Thereis an established or known communication protocol or language betweenthe two such that pulsing light signals via the transmitter is receivedby the receiver, and the receiver is capable of interpreting the signalsor transferring the signals to another device (e.g., a control system).

In one example, a light-transmitting module on a roof of a work vehiclesuch as a tractor may be used to communicate with a receiver module onan implement such that the tractor is capable of communicating with theimplement via Li-Fi. The light-transmitting module may transmit lightwhich is received and interpreted by the receiver module but which maynot be detectable by a human eye. For instance, the light-transmittingmodule may pulse light at 50 kHz. This form of communication isdesirable particularly where a wired communication is unavailable andwhen it is necessary to transmit information at a higher bandwidth thanis possible with a radio transmission receiver.

In one such embodiment, a work vehicle and implement may be capable ofutilizing Li-Fi communication to share data and position informationtherebetween. In FIG. 3, for example, a work vehicle-implementcombination 300 may communicate with one another via a Li-Ficommunication system. The combination 300 may include a work vehiclesuch as a tractor 302 and an implement 304. A drawbar 306 may be used toconnect the tractor 302 and implement 304 to one another. The tractor302 may operate in a forward travel direction defined by arrow 308 inFIG. 3.

The tractor 302 may include a vehicle controller 222 and light controlmodule 224 similar to those described relative to FIG. 2. The controller222 may include a memory unit (M) and a processor (P), where the memoryunit is capable of storing data, lookup tables, software, controlalgorithms, and the like. The tractor 302 may also include a receivingmodule 312 capable of receiving light emissions or signals from alight-transmitting module. In one example, the receiving module 312 maybe in the form of a photodetector. The receiving module 312 may includeor be electrically coupled to a signal converter (not shown) which mayconvert the light signals into a format which is capable of beinginterpreted by the vehicle controller 222 or light control module 224.In this example, the signal converter may be an externally-locatedmodule from the receiving module 312, vehicle controller 222 and lightcontrol module 224. Alternatively, the signal converter may be part ofthe receiving module 312, vehicle controller 222 or light control module224.

The tractor 302 may include a plurality of field lights orlight-transmitting modules. Each light-transmitting module may includeone or more LEDs with a visible light communication (VLC) technology toperform optical data transmission. In FIG. 3, for example, the pluralityof light-transmitting modules may include a first light-transmittingmodule 316, a second light-transmitting module 318, a thirdlight-transmitting module 320, and a fourth light-transmitting module322.

Each light-transmitting module is capable of emitting or transferring alight signal. In the example of FIG. 3, the first light-transmittingmodule 316 may emit a first light signal 330. The vehicle controller 222may communicate with the light control module 224 a type of data orposition information to be emitted by the first light-transmittingmodule 316. As such, the light control module 224 may send instructionsor commands to the first light-transmitting module 316 to communicatevia light the instruction or command. In doing so, the firstlight-transmitting module 316 emits the first light signal 330 whichincludes the data or position information as instructed by the vehiclecontroller 222 in this example.

The second light-transmitting module 318 can be operably controlled toemit a second light signal 332. Similarly, the third light-transmittingmodule 320 can be operably controlled to emit a third light signal 324and the fourth light-transmitting module 322 can be operably controlledto emit a fourth light signal 334. Each light-transmitting module may beoperably controlled independently of one another. The light-transmittingmodules may be located at different positions on the work vehicle 302,and the light control module 224 may instruct each light-transmittingmodule to transmit a different signal simultaneously or at differenttimes.

In one embodiment, the implement 304 may be operably controlled via itsown implement controller 310. Alternatively, the vehicle controller 222may operably control a work function of the implement 304. The implementcontroller 310 may include a memory unit (M) and a processor (P).Further, the implement 304 may include the implement light controlmodule 224 which is in electrical communication with the implementcontroller 310 (or vehicle controller 222 as in FIG. 2).

The implement 304 may include a receiving module 314 capable ofreceiving light emissions or signals from a light-transmitting modulefrom the tractor 302 (or other machine). In one example, the receivingmodule 314 may be in the form of a photodetector. The receiving module314 may include or be electrically coupled to a signal converter (notshown) which may convert the light signals into a format which iscapable of being interpreted by the vehicle controller 222 or implementlight control module 226. In this example, the signal converter may bean externally-located module from the receiving module 314, vehiclecontroller 222 and implement light control module 226. Alternatively,the signal converter may be part of the receiving module 314, vehiclecontroller 222 or implement light control module 226.

The implement 304 may include a plurality of field lights orlight-transmitting modules. Each light-transmitting module may includeone or more LEDs with a visible light communication (VLC) technology toperform optical data transmission. In FIG. 3, for example, the pluralityof light-transmitting modules may include a first implementlight-transmitting module 326 and a second implement light-transmittingmodule 328.

Each implement light-transmitting module is capable of emitting ortransferring a light signal. In the example of FIG. 3, the firstimplement light-transmitting module 326 may emit a first light signal336. The vehicle controller 222 may communicate with the implement lightcontrol module 226 a type of data or position information to be emittedby the first implement light-transmitting module 326. As such, theimplement light control module 226 may send instructions or commands tothe first implement light-transmitting module 326 to communicate vialight the instruction or command. In doing so, the first implementlight-transmitting module 326 emits the first light signal 336 whichincludes the data or position information as instructed by the vehiclecontroller 222 in this example.

The second implement light-transmitting module 328 may emit a secondlight signal 338 as shown in FIG. 3. Each light signal from theimplement light-transmitting modules may be operably received by thereceiving module 312 on the tractor 302 and/or another receiving modulelocated on a different work vehicle or implement. Upon receiving a lightsignal from the implement 304, the receiving module 312 may transmit thesignal to a signal converter which may in turn convert the light signalsinto a format which is capable of being interpreted by the vehiclecontroller 222 or implement light control module 226. In this way, thevehicle controller 222 may communicate with the operator of the tractoror work machine data or position information related to the implement304.

Similarly, one or more of the light-transmitting modules of the tractor302 may emit a light signal which is received by the implement receivingmodule 314. The implement receiving module 314 may transmit the signalto a signal converter which in turn converts the light signal into aformat that may be received and understood by the implement controller310. As noted above, the signal converter may be a part of the receivingmodule or a separate unit therefrom.

In one embodiment, the light-transmitting modules on the tractor and/orimplement may comprise the field lights used to illuminate the areassurrounding the respective machine. Moreover, during operation, one ormore of the implement light-transmitting modules may pulse infraredlight to the tractor so that a glare or blinding light is not emitted insuch a way that it affects the operator's ability to control thetractor. Further, light signals may be emitted or pulsed from thetractor via infrared light.

The use of Li-Fi technology is ideal in these circumstances where it isnot possible to have a wired connection between transmitter andreceiver. Further, it is desired where a larger bandwidth is needed tocommunicate therebetween. For example, in one embodiment, thecommunication between the tractor or work vehicle and implement may bevia a first wireless communication protocol or a second wirelesscommunication protocol. The second wireless communication protocol mayutilize Li-Fi technology. In one aspect, the first wirelesscommunication protocol may be the default communication protocol.However, the vehicle controller 222 or implement controller 310 may beprogrammed to detect when the amount of bandwidth available with thefirst wireless communication protocol is insufficient for the amount ofdata or information being transferred between the work vehicle 302 andimplement 304. When this is detected, the communication protocol may beswitched from the first wireless communication protocol to the secondwireless communication protocol. In this case, the vehicle controller222 or implement controller 310 may operably trigger the communicationto switch to Li-Fi and thus the communication therebetween is via thelight-transmitting modules and receiving modules as described above.

In the aforementioned example, the vehicle controller 222 maycontinuously monitor the bandwidth being used relative to the amount ofbandwidth available between the work vehicle 302 and implement 304. Thesame may be true with respect to communication between the work vehicle302 and another work vehicle in a field or other location. The vehiclecontroller 222 may be programmed to detect the bandwidth used versusavailable bandwidth, compare the amount of bandwidth used or availableto a threshold amount, and operably switch between communicationprotocols when additional or less bandwidth is needed. For example, whenthe amount of bandwidth being used at any given time is less than thebandwidth threshold, the vehicle controller 222 may communicate via afirst wireless communication protocol with less bandwidth. When theamount of bandwidth being used at any given time is more than thebandwidth threshold, the vehicle controller 222 may switch to a secondwireless communication protocol with more bandwidth. As the controller222 switches to the second wireless communication protocol, the vehiclecontroller 222 may communicate with the light control module 224 to senda light signal via one or more of the vehicle light-transmitting modulesto the implement receiving module 314 indicating the switch to thesecond wireless communication protocol. Moreover, when switching back tothe first wireless communication protocol, the vehicle controller 222may use the light control module 224 to send a light signal indicativeof this switch to the implement receiving module 314 which iscommunicated to the implement controller 310.

Referring now to FIG. 4, a further embodiment of the present disclosureis disclosed. In FIG. 3, the embodiment illustrates a work vehiclepulling an implement. As described above, the work vehicle and implementare configured to communicate with one another via light signals emittedand received therebetween. In FIG. 4, a combination 400 of a pair ofwork machines or implements are shown which are capable of communicatingwith one another via Li-Fi communication to share data and positioninformation therebetween. The combination 400 may include a first workvehicle 402 and a second work vehicle 404. The first work vehicle 402,however, may be an implement. Similarly, the second work vehicle 404 maybe an implement. Thus, it is possible for a pair of implements tocommunicate with one another utilizing Li-Fi communication.

The first work vehicle 402 may include a controller 406 and lightcontrol module 412 similar to those described relative to FIG. 2. Thecontroller 406 may include a memory unit (M) 408 and a processor (P)410, where the memory unit 408 is capable of storing data, lookuptables, software, control algorithms, and the like. The first workvehicle 402 may also include a receiving module 428 capable of receivinglight emissions or signals from a light-transmitting module. In oneexample, the receiving module 428 may be in the form of a photodetector.The receiving module 428 may include or be electrically coupled to asignal converter (not shown) which may convert the light signals into aformat which is capable of being interpreted by the controller 406 orlight control module 412. In this example, the signal converter may bean externally-located module from the receiving module 428, controller406 and light control module 412. Alternatively, the signal convertermay be part of the receiving module 428, controller 406 or light controlmodule 412.

The first work vehicle 402 may include a lighting system 414 similar tothe lighting system 104 of FIGS. 1 and 2. The lighting system 414 maycomprise a plurality of field lights or light-transmitting modules. Eachlight-transmitting module may include one or more LEDs with a visiblelight communication (VLC) technology to perform optical datatransmission. In FIG. 4, for example, the plurality oflight-transmitting modules may include a first light-transmitting module416, a second light-transmitting module 418, and a thirdlight-transmitting module 420. There may be any number oflight-transmitting modules, and thus FIG. 4 is only one type of example.In other words, there can be more or more light-transmitting modulesfunctioning as part of the lighting system 414.

Each light-transmitting module is capable of emitting or transferring alight signal. In the example of FIG. 4, the first light-transmittingmodule 416 may emit a first light signal 422. The controller 406 maycommunicate with the light control module 412 a type of data or positioninformation to be emitted by the first light-transmitting module 416. Assuch, the light control module 412 may send instructions or commands tothe first light-transmitting module 416 to communicate via light theinstruction or command. In doing so, the first light-transmitting module416 emits the first light signal 422 which includes the data or positioninformation as instructed by the controller 406 in this example.

The second light-transmitting module 418 can be operably controlled toemit a second light signal 424. Similarly, the third light-transmittingmodule 420 can be operably controlled to emit a third light signal 426.Each light-transmitting module may be operably controlled independentlyof one another. The light-transmitting modules may be located atdifferent positions on the work vehicle 402, and the light controlmodule 412 may instruct each light-transmitting module to transmit adifferent signal simultaneously or at different times.

In FIG. 4, the second work vehicle 404 may be operably controlled viaits own controller 430. Alternatively, the first controller 406 mayoperably control a work function of the second work vehicle 404. Thecontroller 430 may include a memory unit (M) 432 and a processor (P)434. Further, the second work vehicle 404 may include a light controlmodule 436 which is in electrical communication with the controller 430(or first controller 406).

The second work vehicle 404 may include a receiving module 452 capableof receiving light emissions or signals from a light-transmitting modulefrom the first work vehicle 402 (or other machine). In one example, thereceiving module 452 may be in the form of a photodetector. Thereceiving module 452 may include or be electrically coupled to a signalconverter (not shown) which may convert the light signals into a formatwhich is capable of being interpreted by the controller 430 or lightcontrol module 436. In this example, the signal converter may be anexternally-located module from the receiving module 452, controller 430and light control module 436. Alternatively, the signal converter may bepart of the receiving module 452, the controller 430 or the lightcontrol module 436.

The second work vehicle 404 may include its own lighting system 438comprising a plurality of field lights or light-transmitting modules.Each light-transmitting module may include one or more LEDs with avisible light communication (VLC) technology to perform optical datatransmission. In FIG. 4, for example, the plurality oflight-transmitting modules may include a first light-transmitting module440, a second light-transmitting module 442, and a thirdlight-transmitting module 444.

Each light-transmitting module is capable of emitting or transferring alight signal. In the example of FIG. 4, the first light-transmittingmodule 440 may emit a first light signal 446. The second controller 430may communicate with the light control module 436 a type of data orposition information to be emitted by the first light-transmittingmodule 440. As such, the light control module 436 may send instructionsor commands to the first light-transmitting module 440 to communicatevia light the instruction or command. In doing so, the firstlight-transmitting module 440 emits the first light signal 446 whichincludes the data or position information as instructed by the secondcontroller 430 in this example.

The second light-transmitting module 442 may emit a second light signal448 as shown in FIG. 4, and the third light-transmitting module 444 mayemit a third light signal 450. Each light signal from the one or morelight-transmitting modules may be operably received by the receivingmodule 428 on the first work vehicle 402 and/or another receiving modulelocated on a different work vehicle or implement. Upon receiving a lightsignal from the second work vehicle 404, the receiving module 428 maytransmit the signal to a signal converter which may in turn convert thelight signals into a format which is capable of being interpreted by thefirst controller 406 or light control module 412. In this way, the firstcontroller 406 may communicate with the operator of the first workmachine 402 data or position information related to the second workvehicle 404.

Similarly, one or more of the light-transmitting modules of the firstwork vehicle 402 may emit a light signal which is received by thereceiving module 452 on the second work vehicle 404. The secondreceiving module 452 may transmit the signal to a signal converter whichin turn converts the light signal into a format that may be received andunderstood by the controller 430. As noted above, the signal convertermay be a part of the receiving module or a separate unit therefrom.

In this embodiment, light signals may be emitted from the first workvehicle 402 to the second work vehicle 404 in a first communicationdirection 454, and/or light signals may be emitted from the second workvehicle 404 to the first work vehicle 402 in a second communicationdirection 456.

In one embodiment, the light-transmitting modules on either work vehiclemay comprise the field lights used to illuminate the areas surroundingthe respective machine. Moreover, during operation, one or more of thelight-transmitting modules may pulse infrared light to the other workvehicle so that a glare or blinding light is not emitted in such a waythat it affects the operator's ability to control the other workvehicle.

The use of Li-Fi technology is ideal in these circumstances where it isnot possible to have a wired connection between transmitter andreceiver. Further, it is desired where a larger bandwidth is needed tocommunicate therebetween. For example, in one embodiment, thecommunication between the two work vehicles may be via a first wirelesscommunication protocol or a second wireless communication protocol. Thesecond wireless communication protocol may utilize Li-Fi technology. Inone aspect, the first wireless communication protocol may be the defaultcommunication protocol. However, the first controller 406 or the secondcontroller 430 may be programmed to detect when the amount of bandwidthavailable with the first wireless communication protocol is insufficientfor the amount of data or information being transferred between thefirst work vehicle 402 and second work vehicle 404. When this isdetected, the communication protocol may be switched from the firstwireless communication protocol to the second wireless communicationprotocol. In this case, the first controller 406 or second controller430 may operably trigger the communication to switch to Li-Fi and thusthe communication therebetween is via the light-transmitting modules andreceiving modules as described above.

In the aforementioned example, the first controller 406 may continuouslymonitor the bandwidth being used relative to the amount of bandwidthavailable between the first work vehicle 402 and second work vehicle404. The same may be true with respect to communication between thefirst or second work vehicle and another work vehicle or implement in afield or other location. Either controller 406, 430 may be programmed todetect the bandwidth used versus available bandwidth, compare the amountof bandwidth used or available to a threshold amount, and operablyswitch between communication protocols when additional or less bandwidthis needed. For example, when the amount of bandwidth being used at anygiven time is less than the bandwidth threshold, the respectivecontroller may communicate via a first wireless communication protocolwith less bandwidth. When the amount of bandwidth being used at anygiven time is more than the bandwidth threshold, the respectivecontroller 406, 430 may switch to a second wireless communicationprotocol with more bandwidth. As the respective controller 406, 430switches to the second wireless communication protocol, the respectivecontroller 406, 430 may communicate with the respective light controlmodule 412, 436 to send a light signal via one or more of the vehiclelight-transmitting modules to the respective receiving module 428, 452indicating the switch to the second wireless communication protocol.Moreover, when switching back to the first wireless communicationprotocol, the respective controller 406, 430 may use the respectivelight control module 412, 436 to send a light signal indicative of thisswitch to the respective receiving module 428, 452 which is communicatedto the respective controller 406, 430.

As described above, the first work vehicle 402 may be a tractor,implement, or any other type of work machine. Likewise, the second workvehicle 404 may be a tractor, implement, or any other type of workmachine.

In this disclosure, LED technology is covered but is not intended to belimiting. Other lighting technologies may be used as well includinglaser, DLP, a combination of LED and other, etc. Each light may be anarray field light or light source.

In this disclosure, a plurality of sensing device technologies isdescribed including proximity sensors and camera-based technology. Othersensing technologies such as LIDAR, infrared, radar, etc. may also beused.

While exemplary embodiments incorporating the principles of the presentdisclosure have been described herein, the present disclosure is notlimited to such embodiments. Instead, this application is intended tocover any variations, uses, or adaptations of the disclosure using itsgeneral principles. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this disclosure pertains.

1. An agricultural work vehicle, comprising: a chassis; a cab mounted tothe chassis and including a work space for an operator to control thework vehicle; a controller for controlling operation of the workvehicle; a lighting system of the work vehicle comprising at least onearray field light for illuminating an area on or around the workvehicle; a light control module disposed in electrical communicationwith the controller, the light control module configured to operablycontrol the at least one array field light; wherein, the controllertransmits a signal to the light control module; further wherein, the atleast one array field light transmits a light signal corresponding tothe signal which is receivable by a receiving module on another workvehicle or implement.
 2. The work vehicle of claim 1, wherein the atleast one array field light comprises a high-definition pixel LEDlighting module.
 3. The work vehicle of claim 1, wherein thetransmission of the light signal comprises an optical data transmission.4. The work vehicle of claim 1, wherein the at least one array fieldlight is mounted to the cab or chassis.
 5. The work vehicle of claim 1,wherein the at least one array field light comprises a first array fieldlight and a second array field light, the first and second array fieldlights being independently controllable by the light control module. 6.The work vehicle of claim 5, wherein the first array field light isoperably controlled to transmit a first light signal and the secondarray field light is operably controlled to transmit a second lightsignal, the first light signal and second light signal comprisingdifferent information.
 7. The work vehicle of claim 1, furthercomprising a receiving module disposed in electrical communication withthe controller, the receiving module configured to receive a lightsignal from a light-transmitting module.
 8. The work vehicle of claim 7,wherein the receiving module comprises a photodetector.
 9. The workvehicle of claim 1, further comprising a signal converter electricallycoupled to the receiving module, the signal converter configured toconvert the light signal into a readable format by the controller.
 10. Awork vehicle for operating in a field, comprising: a controller forcontrolling the work vehicle; a receiving module disposed in electricalcommunication with the controller, the receiving module configured toreceive one or more light signals from a light-transmitting module onanother work vehicle; a lighting system of the work vehicle comprisingat least one light-transmitting module; a light control module disposedin electrical communication with the controller, the light controlmodule configured to operably control the at least onelight-transmitting module; wherein, the controller transmits a signal tothe light control module; wherein, the at least one light-transmittingmodule transmits a light signal corresponding to the signal to the otherwork vehicle.
 11. The work vehicle of claim 10, wherein the signalcomprises data or position information about the work vehicle.
 12. Thework vehicle of claim 10, wherein the transmission of the light signalcomprises an optical data transmission.
 13. The work vehicle of claim10, wherein the at least one light-transmitting module comprises a firstlight-transmitting module and a second light-transmitting module, thefirst and second light-transmitting modules being independentlycontrollable by the light control module.
 14. The work vehicle of claim13, wherein the first light-transmitting module is operably controlledto transmit a first light signal and the second light-transmittingmodule is operably controlled to transmit a second light signal, thefirst light signal and second light signal comprising differentinformation.
 15. The work vehicle of claim 10, wherein the receivingmodule comprises a signal converter configured to convert a light signalreceiving from the implement or other vehicle into a readable format forthe controller.
 16. A communication system between work vehicles,comprising: a first work vehicle comprising a first controller, a firstlight system including a first light control module and at least onelight-transmitting module, and a first receiving module; and a secondwork vehicle comprising a second controller, a second light systemincluding a second light control module and at least onelight-transmitting module, and a second receiving module; wherein, thefirst controller and the second controller communicate informationtherebetween via a communication protocol of transmitting light signalsby the first light system and the second light system.
 17. The system ofclaim 16, wherein: the second controller transmits a signal to thesecond light control module; the second light control module operablycontrols an output of the at least one light-transmitting module totransmit a light signal to the second receiving module, the light signalcorresponding to the signal; and the second receiving module convertingthe light signal into a readable format for the second controller. 18.The system of claim 16, wherein the first receiving module and thesecond receiving module comprise a signal converter for converting alight signal into a readable format for the first controller and secondcontroller.
 19. The system of claim 16, wherein the communicationprotocol comprises a primary communication protocol and a secondarycommunication protocol, the primary communication protocol comprises asmaller bandwidth than the secondary communication protocol; wherein,the secondary communication protocol comprises the transmission of thelight signals between the first work vehicle and second work vehicle tocommunicate information therebetween.
 20. The system of claim 19,wherein the first controller or second controller operably detect anamount of bandwidth being used in communicating informationtherebetween; further wherein, when the first controller or secondcontroller determines the amount of bandwidth is below a thresholdbandwidth, the first controller or second controller operably switchfrom communicating via the primary communication protocol to thesecondary communication protocol.